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AMC Project Paper PDF

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Ridhi Jain
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149 views9 pages

AMC Project Paper PDF

advanced microcontroller project paper

Uploaded by

Ridhi Jain
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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PROJECT REPORT

Cost Effective Anthropomorphic Wireless


Robotic Hand
Rohit Batra CO17545 Ridhi
Jain CO17544 Sarabpreet Singh
CO17550

ECE 5th
Sem
01.Abstract:-
Today's technology has increased the interest in robotic systems and increase
the number of studies realised in this area. There are many studies on robotic
systems in several fields to facilitate human life in the literature. In this
study, a robot hand is designed to repeat finger movements depending upon
flexible sensors mounted on any wearable glove. In the literature, various
sensors that detect the finger movement are used. The sensor that detects
the angle of the fingers has been shown to provide high accuracy although
cheap in present research.

A robotic hand emulates the movement of your hand wirelessly through a glove
with sensors. It consists in an artificial hand controlled by a glove with sensors.
The artificial hand reproduces the movements of the hand with the control
glove, wirelessly. The hand and the glove works both with Arduino.

KeyWords:-Robotic Hand, Joysticks, Arduino Lilypad, Arduino Pro Mini, NRF24L01

2.Introduction:-
A robotic hand is an electro-mechanical system comprised of many parts.
The two main parts to such a device are the electrical components and
the mechanical structure that allows motion. Human hand is one of the most
complex organs of the human body after brain. Thus, we understand why its
behaviour had intensively interested former philosophers, and in the past
decades has been object of study and research not only in the medical field but
also in the engineering field. Earlier research work relating to the development
of robot hands is based on general purpose end-effectors by using the
human hand as inspiration. In many of these configurations, the robot
hand has the same kinematic structure as a human hand, and can
independently control the joints of each finger.

This paper proposes a low cost humanoid hand which can be controlled using a
wearable glove. The controlling unit is mounted on the glove and comprises of
Arduino Lilypad, NRF Transmitter and
Joystick potentiometers.

3.Design Ideology:-
The design ideology behind making this project was to make something which
is pocket friendly . To accomplish this we found a unique design for our
automotive wireless robotic hand . Rather than using flex sensors which cost rs
500 per piece we used a potentiometer which costs rs 40 per piece which is
accurate ,same as of flex sensor . Keeping in view we build up a wireless
robotic hand .

02.Components Used:-
Arduino pro mini :- This board was developed for applications
and installations where space is premium and projects are
made as permanent set ups. The Arduino Pro Mini is a
microcontroller board based on the ATmega328. 

It has 14 digital input/output pins (of which 6 can be used as
PWM outputs), 6 analog inputs, an on-board resonator, a reset
button, and holes for mounting pin headers. A six pin header
can be connected to an FTDI cable or Sparkfun breakout board
to provide USB power and communication to the board.

• It comes with a flash memory of 32KB out of which 0.5 is


used for a bootloader. The flash memory is used for storing
the code of the board. It is a non-volatile memory and
stores information even if the connection with voltage
supply is lost.
• SRAM is a Static Random Access Memory which is 2KB.
RAM memor y is highly volatile in nature and mainly
depends on the constant source of power supply.

• EEPROM comes with a memory of 1KB. It is a read-only


memory (ROM) which can be erased and reprogrammed.
This memory can be erased by using higher than normal
electrical signals.

• This board doesn’t come with built-in connectors that give


you the flexibility to solder the connector in any way you
can, based on the requirements and space available for
your project.

• Like other Arduino boards, Arduino Pro Mini is open source


i.e. you can modify and use the board according to your
requirements as all the data and support related to this
board is readily available.

ARDUINO LILYPAD;- THIS BOARD IS USED IN E- TEXTILE AND


WEARABLE PROJECTS. The LilyPad Arduino Main Board is based
on the ATmega168V (the low-power version of the ATmega168) or
the ATmega328V. 

• It comes in round shape and houses a same number of


functionalities what a regular Arduino Board is capable of
doing with the intention of performing a number of function on
a single chip.
• However, the ability of this board to be sewn  down with the
fabric or sensor through conductive thread puts it ahead and
stands out of the boards available in the Arduino community.

• There are total 22 wide open pin-holes appear around the edge
of the whole rounded shape that are mainly used for the
connection with the fabric and sensor through a conductive
thread. Out of these 22 pin holes, one is reserved for +5V, and
one for ground.

The LilyPad Arduino incorporates 6 analog inputs that can also be

used as digital I/O. They are marked as A0 through A5 on the board,

providing 10 bits of resolution. It is important to note that, the

analog inputs measure from ground to 5 volts, however, the upper

end of their range can be modified using the analogReference()

function.

The board contains 14 digital pins that can be employed as an input

or output, using pinMode(), digitalWrite(), and digitalRead()

functions.

Like other boards in the Arduino, this Pad is programmed by

Arduino IDE

There are two ways to generate regulated +5V power source: Using

+5V pin of the Mini USB Adapter or employing another 2.7-5.5V

power source using Lithium rechargeable battery.

SERVO MOTOR- A servo motor is an electrical device which can


push or rotate an object with great precision. If you want to rotate
and object at some specific angles or distance, then you use servo
motor. It is just made up of simple motor which run
through servo mechanism.
The Servo Motor basically consists of a DC Motor, a Gear system, a
position sensor and a control circuit. The DC motor get powered
from a battery and run at high speed and low torque.
The Gear and shaft assembly connected to the DC motors lower
this speed into sufficient speed and higher torque. The position
sensor senses the position of the shaft from its definite position
and feeds the information to the control circuit. The control circuit
accordingly decodes the signals from the position sensor and
compares the actual position of the motors with the desired
position and accordingly controls the direction of rotation of the DC
motor to get the required position. The Servo Motor generally
requires DC supply of 4.8V to 6 V.
• In Industries they are used in machine tools, packaging,
factory automation, material handling, printing converting,
assembly lines, and many other demanding applications
robotics, CNC machinery or automated manufacturing.

• They are used in robots because of their smooth switching on


and off and accurate positioning.

NRF MODULE - nRF24L ICs use Nordic Semiconductor's


Enhanced ShockBurst protocol (ESB), enabling the
implementation of ultra-low power and high perfor mance
communication with low cost host microcontrollers.





The nRF24AP2 ICs are low-cost, high-perfor mance 2.4 GHz


ISM single-chip connectivity devices with an embedded ANT™
protocol stack.

The nRF2460 is a wireless mono audio streamer.

The module can use 125 different channels which gives a


possibility to have a network of 125 independently working
modems in one place. Each channel can have up to 6
addresses, or each unit can communicate with up to 6 other
units at the same time.
The power consumption of this module is just around 12mA
during transmission, which is even lower than a single LED.
The operating voltage of the module is from 1.9 to 3.6V, but
the good thing is that the other pins tolerate 5V logic, so we
can easily connect it to an Arduino without using any logic
level conver ters.

3.Connections of Various Components:-


• Connections of the Servo Motors(Rx):
Servo-1 connect to the analog 01 (A1) of the Arduino ProMini.
Servo-2 connect to the analog 02 (A2) of the Arduino ProMini.
Servo-3 connect to the analog 03 (A3) of the Arduino ProMini.
Servo-4 connect to the analog 04 (A4) of the Arduino ProMini.
Servo-5 connect to the analog 05 (A5) of the Arduino ProMini.
• Connections of the nRF24L01 Module(Rx/Tx):
VCC connect to the +5V of the Arduino.
GND connect to the GND of the Arduino.
CE connect to the digital 7 pin of the Arduino.
CSN connect to the digital 8 pin of the Arduino.
SCK connect to the digital 13 pin of the Arduino.
MOSI connect to the digital 11 pin of the Arduino.
MISO connect to the digital 12 pin of the Arduino.
• Connections of the Ps4 Joystick(Tx):
Joystick-1 connect to the analog 01 (A1) of the Arduino Lilypad.
Joystick-2 connect to the analog 02 (A2) of the Arduino Lilypad.
Joystick-3 connect to the analog 03 (A3) of the Arduino Lilypad.
Joystick-4 connect to the analog 04 (A4) of the Arduino Lilypad.
Joystick-5 connect to the analog 05 (A5) of the Arduino Lilypad.

4. Program Code:-
5.Pictures:-

The various components used are:-

(a)Robotic hand-
• Arduino Pro Mini-ATMega168(5V,16MHz)

• Servo Motors-Sg90- 5 units

• NRF24L01+- 1 unit
• IC7806- 2 units

• Jumper Wires

• Connecting Wires

• PCB

• Thermocol
• Springs

• Threads

• Bug Strips

(b) Transmitting Glove-


• A Glove

• Arduino Lilypad(ATMega 328p)

• PS2 Game Joystick Control-5 units

• NRF24L01+- 1 unit
• Jumper Wires

• Connecting Wires

• PCB

• Threads

• MS1117-3.0 3.3V Regulator

• Cardboard

• Bug Strips

• IC7806- 1 units

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